Siemens SINAMICS S Manuel page 1089

Higher-level motion control (e.g. SINUMERIK, SIMOTION)
n_cmd
Motion Control
&
Path
Interpolation
x_cmd
+
Offset and
compensation
+
Position actual value T_MAPC
generation
Master application cycle time
Encoder signals acc.
Isochronous (clock-cycle
telegram type [2420]
synchronous) PROFIBUS
Selecting the
position encoder
p1192
DSC encoder
adaptation
From the motor encoder
G1_XIST1
p1193 (1)
1
r0482[0]
G2_XIST1
2
r0482[1]
G3_XIST1
3
r0482[2]
Position actual values from encoder 1, 2, 3
[4704.8]
<1> Principle of operation of Dynamic Servo Control (DSC): The feedback branch {2} completely compensates the feedback coupling branch {1} regarding the position actual value sent from the drive. The fast actual value channel
{3} allows a high dynamic performance and high Kv factors to be achieved.
<2> For the motor encoder (p1192 = 1) p1193 = 1 is effective.
When using encoder 2 or 3 (p1192 = 2, 3), p1193 should be set to "Increments per revolution motor encoder/increments per revolution position encoder (including fine resolution)".
<3> The deadtime for the PROFIBUS data transfer is automatically set.
<4> Sample & Hold element; refer to [1021].
<5> The position deviation must be referred to the increments of the motor including the fine resolution.
<6> Normalization of KPC: If signal {4} = 1 motor revolution and KPC = 1, then "n_set from DSC" = 0.001 motor revolutions/s.
<101> Pre-assignment of the sampling times in p0115, refer to p0112.
1 2
DO: SERVO
Setpoint channel - Dynamic Servo Control (DSC)
NSOLL_B
<6>
KPC
<4>
<5>
+
x y XERR
S & H
–
{1}
SET
factor
<4>
<2>
SET
x
y
S & H
{2}
<1>
{3}
3 4
PROFIBUS sampling time
Refer to [1020.7]
e.g. p0922 = 5, 6, 105 [2420]
SINAMICS Control Unit
p1191
0
Position deviation
x,y
p1190
+
<5>
+
PROFIBUS
Transmission
Delay
<3>
Speed controller clock
Slave application cycle
time
5
fp_3090_01_eng.vsd
15.10.04 V02.04.00
p0115[1] (Drive Object)
Speed controller clock cycle
Speed pre-control
p1191 > 0 (interconnected)
1 = DSC active
p1191 > 0 (interconnected)
P gain
<6>
{4}
x
Kp
y
n_set from DSC [5020.1]
+
–
t
Interpolator DSC position
controller
Fast position
actual value
channel
cycle
T_SAPC
<4>
SET
x
y
S & H
6 7
Function diagram
SINAMICS S
Refer to [1020.7]
<101>
To the speed
pre-control input
(p1430)
[5020.1]
[5020.2]
[5030.3]
[5030.3]
8
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